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[TEP-0135] Purge finalizer and delete PVC
Part of [tektoncd#6740][tektoncd#6740], developed based on Priti's [prototype][prototype] and partially completes the PVC deletion behavior [discussion][discussion]. Prior to this commit, the `PVCs` created from `PipelineRun's` `VolumeClaimTemplate` are not auto deleted when the owning `PipelineRun` is completed. This commit updates the `cleanupAffinityAssistantsAndPVCs` function to remove the `kubernetes.io/pvc-protection` finalizer protection (so that the pvc is allowed to be deleted while the pod consuming it is not deleted). The function then explicitly delete such `PVC` when cleaning up the `Affinity Assistants` at pr completion time. This change is NOT applied to `coschedule: workspaces` mode as there is backward compatability concern. See more details in this [discussion][discussion] [tektoncd#6740]: tektoncd#6740 [prototype]: tektoncd#6635 [discussion]: tektoncd#6741 (comment)
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